/usr/include/xenomai/rtdm/rtdm_driver.h is in libxenomai-dev 2.6.2.1-2ubuntu2.
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* @file
* Real-Time Driver Model for Xenomai, driver API header
*
* @note Copyright (C) 2005-2007 Jan Kiszka <jan.kiszka@web.de>
* @note Copyright (C) 2005 Joerg Langenberg <joerg.langenberg@gmx.net>
* @note Copyright (C) 2008 Gilles Chanteperdrix <gilles.chanteperdrix@xenomai.org>
*
* Xenomai is free software; you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* Xenomai is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Xenomai; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* @ingroup driverapi
*/
#ifndef _RTDM_DRIVER_H
#define _RTDM_DRIVER_H
#ifndef __KERNEL__
#error This header is for kernel space usage only. \
You are likely looking for rtdm/rtdm.h...
#endif /* !__KERNEL__ */
#include <asm/atomic.h>
#include <linux/list.h>
#include <nucleus/xenomai.h>
#include <nucleus/heap.h>
#include <nucleus/pod.h>
#include <nucleus/synch.h>
#include <nucleus/select.h>
#include <nucleus/vfile.h>
#include <rtdm/rtdm.h>
/* debug support */
#include <nucleus/assert.h>
#ifdef CONFIG_PCI
#include <asm-generic/xenomai/pci_ids.h>
#endif /* CONFIG_PCI */
#ifndef CONFIG_XENO_OPT_DEBUG_RTDM
#define CONFIG_XENO_OPT_DEBUG_RTDM 0
#endif
struct rtdm_dev_context;
typedef struct xnselector rtdm_selector_t;
enum rtdm_selecttype;
/*!
* @addtogroup devregister
* @{
*/
/*!
* @anchor dev_flags @name Device Flags
* Static flags describing a RTDM device
* @{
*/
/** If set, only a single instance of the device can be requested by an
* application. */
#define RTDM_EXCLUSIVE 0x0001
/** If set, the device is addressed via a clear-text name. */
#define RTDM_NAMED_DEVICE 0x0010
/** If set, the device is addressed via a combination of protocol ID and
* socket type. */
#define RTDM_PROTOCOL_DEVICE 0x0020
/** Mask selecting the device type. */
#define RTDM_DEVICE_TYPE_MASK 0x00F0
/** @} Device Flags */
/*!
* @anchor ctx_flags @name Context Flags
* Dynamic flags describing the state of an open RTDM device (bit numbers)
* @{
*/
/** Set by RTDM if the device instance was created in non-real-time
* context. */
#define RTDM_CREATED_IN_NRT 0
/** Set by RTDM when the device is being closed. */
#define RTDM_CLOSING 1
/** Lowest bit number the driver developer can use freely */
#define RTDM_USER_CONTEXT_FLAG 8 /* first user-definable flag */
/** @} Context Flags */
/*!
* @anchor drv_versioning @name Driver Versioning
* Current revisions of RTDM structures, encoding of driver versions. See
* @ref api_versioning "API Versioning" for the interface revision.
* @{
*/
/** Version of struct rtdm_device */
#define RTDM_DEVICE_STRUCT_VER 5
/** Version of struct rtdm_dev_context */
#define RTDM_CONTEXT_STRUCT_VER 3
/** Flag indicating a secure variant of RTDM (not supported here) */
#define RTDM_SECURE_DEVICE 0x80000000
/** Version code constructor for driver revisions */
#define RTDM_DRIVER_VER(major, minor, patch) \
(((major & 0xFF) << 16) | ((minor & 0xFF) << 8) | (patch & 0xFF))
/** Get major version number from driver revision code */
#define RTDM_DRIVER_MAJOR_VER(ver) (((ver) >> 16) & 0xFF)
/** Get minor version number from driver revision code */
#define RTDM_DRIVER_MINOR_VER(ver) (((ver) >> 8) & 0xFF)
/** Get patch version number from driver revision code */
#define RTDM_DRIVER_PATCH_VER(ver) ((ver) & 0xFF)
/** @} Driver Versioning */
/*!
* @addtogroup rtdmsync
* @{
*/
/*!
* @anchor RTDM_SELECTTYPE_xxx @name RTDM_SELECTTYPE_xxx
* Event types select can bind to
* @{
*/
enum rtdm_selecttype {
/** Select input data availability events */
RTDM_SELECTTYPE_READ = XNSELECT_READ,
/** Select ouput buffer availability events */
RTDM_SELECTTYPE_WRITE = XNSELECT_WRITE,
/** Select exceptional events */
RTDM_SELECTTYPE_EXCEPT = XNSELECT_EXCEPT
};
/** @} RTDM_SELECTTYPE_xxx */
/** @} rtdmsync */
/*!
* @name Operation Handler Prototypes
* @{
*/
/**
* Named device open handler
*
* @param[in] context Context structure associated with opened device instance
* @param[in] user_info Opaque pointer to information about user mode caller,
* NULL if kernel mode call
* @param[in] oflag Open flags as passed by the user
*
* @return 0 on success. On failure return either -ENOSYS, to request that
* this handler be called again from the opposite realtime/non-realtime
* context, or another negative error code.
*
* @see @c open() in IEEE Std 1003.1,
* http://www.opengroup.org/onlinepubs/009695399 */
typedef int (*rtdm_open_handler_t)(struct rtdm_dev_context *context,
rtdm_user_info_t *user_info, int oflag);
/**
* Socket creation handler for protocol devices
*
* @param[in] context Context structure associated with opened device instance
* @param[in] user_info Opaque pointer to information about user mode caller,
* NULL if kernel mode call
* @param[in] protocol Protocol number as passed by the user
*
* @return 0 on success. On failure return either -ENOSYS, to request that
* this handler be called again from the opposite realtime/non-realtime
* context, or another negative error code.
*
* @see @c socket() in IEEE Std 1003.1,
* http://www.opengroup.org/onlinepubs/009695399 */
typedef int (*rtdm_socket_handler_t)(struct rtdm_dev_context *context,
rtdm_user_info_t *user_info, int protocol);
/**
* Close handler
*
* @param[in] context Context structure associated with opened device instance
* @param[in] user_info Opaque pointer to information about user mode caller,
* NULL if kernel mode or deferred user mode call
*
* @return 0 on success. On failure return either -ENOSYS, to request that
* this handler be called again from the opposite realtime/non-realtime
* context, -EAGAIN to request a recall after a grace period, or a valid
* negative error code according to IEEE Std 1003.1.
*
* @note Drivers must be prepared for that case that the close handler is
* invoked more than once per open context (even if the handler already
* completed an earlier run successfully). The driver has to avoid releasing
* resources twice as well as returning false errors on successive close
* invocations.
*
* @see @c close() in IEEE Std 1003.1,
* http://www.opengroup.org/onlinepubs/009695399 */
typedef int (*rtdm_close_handler_t)(struct rtdm_dev_context *context,
rtdm_user_info_t *user_info);
/**
* IOCTL handler
*
* @param[in] context Context structure associated with opened device instance
* @param[in] user_info Opaque pointer to information about user mode caller,
* NULL if kernel mode call
* @param[in] request Request number as passed by the user
* @param[in,out] arg Request argument as passed by the user
*
* @return A positive value or 0 on success. On failure return either
* -ENOSYS, to request that the function be called again from the opposite
* realtime/non-realtime context, or another negative error code.
*
* @see @c ioctl() in IEEE Std 1003.1,
* http://www.opengroup.org/onlinepubs/009695399 */
typedef int (*rtdm_ioctl_handler_t)(struct rtdm_dev_context *context,
rtdm_user_info_t *user_info,
unsigned int request, void __user *arg);
/**
* Select binding handler
*
* @param[in] context Context structure associated with opened device instance
* @param[in,out] selector Object that shall be bound to the given event
* @param[in] type Event type the selector is interested in
* @param[in] fd_index Opaque value, to be passed to rtdm_event_select_bind or
* rtdm_sem_select_bind unmodfied
*
* @return 0 on success. On failure return either -ENOSYS, to request that
* this handler be called again from the opposite realtime/non-realtime
* context, or another negative error code.
*/
typedef int (*rtdm_select_bind_handler_t)(struct rtdm_dev_context *context,
rtdm_selector_t *selector,
enum rtdm_selecttype type,
unsigned fd_index);
/**
* Read handler
*
* @param[in] context Context structure associated with opened device instance
* @param[in] user_info Opaque pointer to information about user mode caller,
* NULL if kernel mode call
* @param[out] buf Input buffer as passed by the user
* @param[in] nbyte Number of bytes the user requests to read
*
* @return On success, the number of bytes read. On failure return either
* -ENOSYS, to request that this handler be called again from the opposite
* realtime/non-realtime context, or another negative error code.
*
* @see @c read() in IEEE Std 1003.1,
* http://www.opengroup.org/onlinepubs/009695399 */
typedef ssize_t (*rtdm_read_handler_t)(struct rtdm_dev_context *context,
rtdm_user_info_t *user_info,
void *buf, size_t nbyte);
/**
* Write handler
*
* @param[in] context Context structure associated with opened device instance
* @param[in] user_info Opaque pointer to information about user mode caller,
* NULL if kernel mode call
* @param[in] buf Output buffer as passed by the user
* @param[in] nbyte Number of bytes the user requests to write
*
* @return On success, the number of bytes written. On failure return
* either -ENOSYS, to request that this handler be called again from the
* opposite realtime/non-realtime context, or another negative error code.
*
* @see @c write() in IEEE Std 1003.1,
* http://www.opengroup.org/onlinepubs/009695399 */
typedef ssize_t (*rtdm_write_handler_t)(struct rtdm_dev_context *context,
rtdm_user_info_t *user_info,
const void *buf, size_t nbyte);
/**
* Receive message handler
*
* @param[in] context Context structure associated with opened device instance
* @param[in] user_info Opaque pointer to information about user mode caller,
* NULL if kernel mode call
* @param[in,out] msg Message descriptor as passed by the user, automatically
* mirrored to safe kernel memory in case of user mode call
* @param[in] flags Message flags as passed by the user
*
* @return On success, the number of bytes received. On failure return
* either -ENOSYS, to request that this handler be called again from the
* opposite realtime/non-realtime context, or another negative error code.
*
* @see @c recvmsg() in IEEE Std 1003.1,
* http://www.opengroup.org/onlinepubs/009695399 */
typedef ssize_t (*rtdm_recvmsg_handler_t)(struct rtdm_dev_context *context,
rtdm_user_info_t *user_info,
struct msghdr *msg, int flags);
/**
* Transmit message handler
*
* @param[in] context Context structure associated with opened device instance
* @param[in] user_info Opaque pointer to information about user mode caller,
* NULL if kernel mode call
* @param[in] msg Message descriptor as passed by the user, automatically
* mirrored to safe kernel memory in case of user mode call
* @param[in] flags Message flags as passed by the user
*
* @return On success, the number of bytes transmitted. On failure return
* either -ENOSYS, to request that this handler be called again from the
* opposite realtime/non-realtime context, or another negative error code.
*
* @see @c sendmsg() in IEEE Std 1003.1,
* http://www.opengroup.org/onlinepubs/009695399 */
typedef ssize_t (*rtdm_sendmsg_handler_t)(struct rtdm_dev_context *context,
rtdm_user_info_t *user_info,
const struct msghdr *msg, int flags);
/** @} Operation Handler Prototypes */
typedef int (*rtdm_rt_handler_t)(struct rtdm_dev_context *context,
rtdm_user_info_t *user_info, void *arg);
/**
* Device operations
*/
struct rtdm_operations {
/*! @name Common Operations
* @{ */
/** Close handler for real-time contexts (optional, deprecated)
* @deprecated Only use non-real-time close handler in new drivers. */
rtdm_close_handler_t close_rt;
/** Close handler for non-real-time contexts (required) */
rtdm_close_handler_t close_nrt;
/** IOCTL from real-time context (optional) */
rtdm_ioctl_handler_t ioctl_rt;
/** IOCTL from non-real-time context (optional) */
rtdm_ioctl_handler_t ioctl_nrt;
/** Select binding handler for any context (optional) */
rtdm_select_bind_handler_t select_bind;
/** @} Common Operations */
/*! @name Stream-Oriented Device Operations
* @{ */
/** Read handler for real-time context (optional) */
rtdm_read_handler_t read_rt;
/** Read handler for non-real-time context (optional) */
rtdm_read_handler_t read_nrt;
/** Write handler for real-time context (optional) */
rtdm_write_handler_t write_rt;
/** Write handler for non-real-time context (optional) */
rtdm_write_handler_t write_nrt;
/** @} Stream-Oriented Device Operations */
/*! @name Message-Oriented Device Operations
* @{ */
/** Receive message handler for real-time context (optional) */
rtdm_recvmsg_handler_t recvmsg_rt;
/** Receive message handler for non-real-time context (optional) */
rtdm_recvmsg_handler_t recvmsg_nrt;
/** Transmit message handler for real-time context (optional) */
rtdm_sendmsg_handler_t sendmsg_rt;
/** Transmit message handler for non-real-time context (optional) */
rtdm_sendmsg_handler_t sendmsg_nrt;
/** @} Message-Oriented Device Operations */
};
struct rtdm_devctx_reserved {
void *owner;
struct list_head cleanup;
};
/**
* @brief Device context
*
* A device context structure is associated with every open device instance.
* RTDM takes care of its creation and destruction and passes it to the
* operation handlers when being invoked.
*
* Drivers can attach arbitrary data immediately after the official structure.
* The size of this data is provided via rtdm_device.context_size during
* device registration.
*/
struct rtdm_dev_context {
/** Context flags, see @ref ctx_flags "Context Flags" for details */
unsigned long context_flags;
/** Associated file descriptor */
int fd;
/** Lock counter of context, held while structure is referenced by an
* operation handler */
atomic_t close_lock_count;
/** Set of active device operation handlers */
struct rtdm_operations *ops;
/** Reference to owning device */
struct rtdm_device *device;
/** Data stored by RTDM inside a device context (internal use only) */
struct rtdm_devctx_reserved reserved;
/** Begin of driver defined context data structure */
char dev_private[0];
};
/**
* Locate the driver private area associated to a device context structure
*
* @param[in] context Context structure associated with opened device instance
*
* @return The address of the private driver area associated to @a
* context.
*/
static inline void *
rtdm_context_to_private(struct rtdm_dev_context *context)
{
return (void *)context->dev_private;
}
/**
* Locate a device context structure from its driver private area
*
* @param[in] dev_private Address of a private context area
*
* @return The address of the device context structure defining @a
* dev_private.
*/
static inline struct rtdm_dev_context *
rtdm_private_to_context(void *dev_private)
{
return container_of(dev_private, struct rtdm_dev_context, dev_private);
}
struct rtdm_dev_reserved {
struct list_head entry;
atomic_t refcount;
struct rtdm_dev_context *exclusive_context;
};
/**
* @brief RTDM device
*
* This structure specifies a RTDM device. As some fields, especially the
* reserved area, will be modified by RTDM during runtime, the structure must
* not reside in write-protected memory.
*/
struct rtdm_device {
/** Revision number of this structure, see
* @ref drv_versioning "Driver Versioning" defines */
int struct_version;
/** Device flags, see @ref dev_flags "Device Flags" for details */
int device_flags;
/** Size of driver defined appendix to struct rtdm_dev_context */
size_t context_size;
/** Named device identification (orthogonal to Linux device name space) */
char device_name[RTDM_MAX_DEVNAME_LEN + 1];
/** Protocol device identification: protocol family (PF_xxx) */
int protocol_family;
/** Protocol device identification: socket type (SOCK_xxx) */
int socket_type;
/** Named device instance creation for real-time contexts,
* optional (but deprecated) if open_nrt is non-NULL, ignored for
* protocol devices
* @deprecated Only use non-real-time open handler in new drivers. */
rtdm_open_handler_t open_rt;
/** Named device instance creation for non-real-time contexts,
* optional if open_rt is non-NULL, ignored for protocol devices */
rtdm_open_handler_t open_nrt;
/** Protocol socket creation for real-time contexts,
* optional (but deprecated) if socket_nrt is non-NULL, ignored for
* named devices
* @deprecated Only use non-real-time socket creation handler in new
* drivers. */
rtdm_socket_handler_t socket_rt;
/** Protocol socket creation for non-real-time contexts,
* optional if socket_rt is non-NULL, ignored for named devices */
rtdm_socket_handler_t socket_nrt;
/** Default operations on newly opened device instance */
struct rtdm_operations ops;
/** Device class ID, see @ref RTDM_CLASS_xxx */
int device_class;
/** Device sub-class, see RTDM_SUBCLASS_xxx definition in the
* @ref profiles "Device Profiles" */
int device_sub_class;
/** Supported device profile version */
int profile_version;
/** Informational driver name (reported via /proc) */
const char *driver_name;
/** Driver version, see @ref drv_versioning "Driver Versioning" defines */
int driver_version;
/** Informational peripheral name the device is attached to
* (reported via /proc) */
const char *peripheral_name;
/** Informational driver provider name (reported via /proc) */
const char *provider_name;
/** Name of /proc entry for the device, must not be NULL */
const char *proc_name;
#ifdef CONFIG_XENO_OPT_VFILE
/** Set to device's vfile data after registration, do not modify */
struct xnvfile_directory vfroot;
struct xnvfile_regular info_vfile;
#endif
/** Driver definable device ID */
int device_id;
/** Driver definable device data */
void *device_data;
/** Data stored by RTDM inside a registered device (internal use only) */
struct rtdm_dev_reserved reserved;
};
/** @} devregister */
/* --- device registration --- */
int rtdm_dev_register(struct rtdm_device *device);
int rtdm_dev_unregister(struct rtdm_device *device, unsigned int poll_delay);
/* --- inter-driver API --- */
#define rtdm_open rt_dev_open
#define rtdm_socket rt_dev_socket
#define rtdm_close rt_dev_close
#define rtdm_ioctl rt_dev_ioctl
#define rtdm_read rt_dev_read
#define rtdm_write rt_dev_write
#define rtdm_recvmsg rt_dev_recvmsg
#define rtdm_recv rt_dev_recv
#define rtdm_recvfrom rt_dev_recvfrom
#define rtdm_sendmsg rt_dev_sendmsg
#define rtdm_send rt_dev_send
#define rtdm_sendto rt_dev_sendto
#define rtdm_bind rt_dev_bind
#define rtdm_listen rt_dev_listen
#define rtdm_accept rt_dev_accept
#define rtdm_getsockopt rt_dev_getsockopt
#define rtdm_setsockopt rt_dev_setsockopt
#define rtdm_getsockname rt_dev_getsockname
#define rtdm_getpeername rt_dev_getpeername
#define rtdm_shutdown rt_dev_shutdown
struct rtdm_dev_context *rtdm_context_get(int fd);
#ifndef DOXYGEN_CPP /* Avoid static inline tags for RTDM in doxygen */
#define CONTEXT_IS_LOCKED(context) \
(atomic_read(&(context)->close_lock_count) > 1 || \
(test_bit(RTDM_CLOSING, &(context)->context_flags) && \
atomic_read(&(context)->close_lock_count) > 0))
static inline void rtdm_context_lock(struct rtdm_dev_context *context)
{
XENO_ASSERT(RTDM, CONTEXT_IS_LOCKED(context),
/* just warn if context was a dangling pointer */);
atomic_inc(&context->close_lock_count);
}
extern int rtdm_apc;
static inline void rtdm_context_unlock(struct rtdm_dev_context *context)
{
XENO_ASSERT(RTDM, CONTEXT_IS_LOCKED(context),
/* just warn if context was a dangling pointer */);
smp_mb__before_atomic_dec();
if (unlikely(atomic_dec_and_test(&context->close_lock_count)))
rthal_apc_schedule(rtdm_apc);
}
static inline void rtdm_context_put(struct rtdm_dev_context *context)
{
rtdm_context_unlock(context);
}
/* --- clock services --- */
struct xntbase;
extern struct xntbase *rtdm_tbase;
static inline nanosecs_abs_t rtdm_clock_read(void)
{
return xntbase_ticks2ns(rtdm_tbase, xntbase_get_time(rtdm_tbase));
}
static inline nanosecs_abs_t rtdm_clock_read_monotonic(void)
{
return xntbase_ticks2ns(rtdm_tbase, xntbase_get_jiffies(rtdm_tbase));
}
#endif /* !DOXYGEN_CPP */
/*!
* @addtogroup rtdmsync
* @{
*/
int rtdm_select_bind(int fd, rtdm_selector_t *selector,
enum rtdm_selecttype type, unsigned fd_index);
/* --- spin lock services --- */
/*!
* @name Global Lock across Scheduler Invocation
* @{
*/
/**
* @brief Execute code block atomically
*
* Generally, it is illegal to suspend the current task by calling
* rtdm_task_sleep(), rtdm_event_wait(), etc. while holding a spinlock. In
* contrast, this macro allows to combine several operations including
* a potentially rescheduling call to an atomic code block with respect to
* other RTDM_EXECUTE_ATOMICALLY() blocks. The macro is a light-weight
* alternative for protecting code blocks via mutexes, and it can even be used
* to synchronise real-time and non-real-time contexts.
*
* @param code_block Commands to be executed atomically
*
* @note It is not allowed to leave the code block explicitly by using
* @c break, @c return, @c goto, etc. This would leave the global lock held
* during the code block execution in an inconsistent state. Moreover, do not
* embed complex operations into the code bock. Consider that they will be
* executed under preemption lock with interrupts switched-off. Also note that
* invocation of rescheduling calls may break the atomicity until the task
* gains the CPU again.
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Interrupt service routine
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* Rescheduling: possible, depends on functions called within @a code_block.
*/
#ifdef DOXYGEN_CPP /* Beautify doxygen output */
#define RTDM_EXECUTE_ATOMICALLY(code_block) \
{ \
<ENTER_ATOMIC_SECTION> \
code_block; \
<LEAVE_ATOMIC_SECTION> \
}
#else /* This is how it really works */
#define RTDM_EXECUTE_ATOMICALLY(code_block) \
{ \
spl_t __rtdm_s; \
\
xnlock_get_irqsave(&nklock, __rtdm_s); \
__xnpod_lock_sched(); \
code_block; \
__xnpod_unlock_sched(); \
xnlock_put_irqrestore(&nklock, __rtdm_s); \
}
#endif
/** @} Global Lock across Scheduler Invocation */
/*!
* @name Spinlock with Preemption Deactivation
* @{
*/
/**
* Static lock initialisation
*/
#define RTDM_LOCK_UNLOCKED RTHAL_SPIN_LOCK_UNLOCKED
/** Lock variable */
typedef rthal_spinlock_t rtdm_lock_t;
/** Variable to save the context while holding a lock */
typedef unsigned long rtdm_lockctx_t;
/**
* Dynamic lock initialisation
*
* @param lock Address of lock variable
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* Rescheduling: never.
*/
#define rtdm_lock_init(lock) rthal_spin_lock_init(lock)
/**
* Acquire lock from non-preemptible contexts
*
* @param lock Address of lock variable
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Interrupt service routine
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* Rescheduling: never.
*/
#ifdef DOXYGEN_CPP /* Beautify doxygen output */
#define rtdm_lock_get(lock) rthal_spin_lock(lock)
#else /* This is how it really works */
#define rtdm_lock_get(lock) \
do { \
XENO_BUGON(RTDM, !rthal_local_irq_disabled()); \
rthal_spin_lock(lock); \
__xnpod_lock_sched(); \
} while (0)
#endif
/**
* Release lock without preemption restoration
*
* @param lock Address of lock variable
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Interrupt service routine
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* Rescheduling: never.
*/
#define rtdm_lock_put(lock) \
do { \
rthal_spin_unlock(lock); \
__xnpod_unlock_sched(); \
} while (0)
/**
* Acquire lock and disable preemption
*
* @param lock Address of lock variable
* @param context name of local variable to store the context in
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Interrupt service routine
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* Rescheduling: never.
*/
#define rtdm_lock_get_irqsave(lock, context) \
do { \
rthal_spin_lock_irqsave(lock, context); \
__xnpod_lock_sched(); \
} while (0)
/**
* Release lock and restore preemption state
*
* @param lock Address of lock variable
* @param context name of local variable which stored the context
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Interrupt service routine
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* Rescheduling: possible.
*/
#define rtdm_lock_put_irqrestore(lock, context) \
do { \
rthal_spin_unlock(lock); \
__xnpod_unlock_sched(); \
rthal_local_irq_restore(context); \
} while (0)
/**
* Disable preemption locally
*
* @param context name of local variable to store the context in
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Interrupt service routine
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* Rescheduling: never.
*/
#define rtdm_lock_irqsave(context) \
rthal_local_irq_save(context)
/**
* Restore preemption state
*
* @param context name of local variable which stored the context
*
* Environments:
*
* This service can be called from:
*
* - Kernel module initialization/cleanup code
* - Interrupt service routine
* - Kernel-based task
* - User-space task (RT, non-RT)
*
* Rescheduling: possible.
*/
#define rtdm_lock_irqrestore(context) \
rthal_local_irq_restore(context)
/** @} Spinlock with Preemption Deactivation */
/** @} rtdmsync */
/* --- Interrupt management services --- */
/*!
* @addtogroup rtdmirq
* @{
*/
typedef xnintr_t rtdm_irq_t;
/*!
* @anchor RTDM_IRQTYPE_xxx @name RTDM_IRQTYPE_xxx
* Interrupt registrations flags
* @{
*/
/** Enable IRQ-sharing with other real-time drivers */
#define RTDM_IRQTYPE_SHARED XN_ISR_SHARED
/** Mark IRQ as edge-triggered, relevant for correct handling of shared
* edge-triggered IRQs */
#define RTDM_IRQTYPE_EDGE XN_ISR_EDGE
/** @} RTDM_IRQTYPE_xxx */
/**
* Interrupt handler
*
* @param[in] irq_handle IRQ handle as returned by rtdm_irq_request()
*
* @return 0 or a combination of @ref RTDM_IRQ_xxx flags
*/
typedef int (*rtdm_irq_handler_t)(rtdm_irq_t *irq_handle);
/*!
* @anchor RTDM_IRQ_xxx @name RTDM_IRQ_xxx
* Return flags of interrupt handlers
* @{
*/
/** Unhandled interrupt */
#define RTDM_IRQ_NONE XN_ISR_NONE
/** Denote handled interrupt */
#define RTDM_IRQ_HANDLED XN_ISR_HANDLED
/** @} RTDM_IRQ_xxx */
/**
* Retrieve IRQ handler argument
*
* @param irq_handle IRQ handle
* @param type Type of the pointer to return
*
* @return The argument pointer registered on rtdm_irq_request() is returned,
* type-casted to the specified @a type.
*
* Environments:
*
* This service can be called from:
*
* - Interrupt service routine
*
* Rescheduling: never.
*/
#define rtdm_irq_get_arg(irq_handle, type) ((type *)irq_handle->cookie)
/** @} rtdmirq */
int rtdm_irq_request(rtdm_irq_t *irq_handle, unsigned int irq_no,
rtdm_irq_handler_t handler, unsigned long flags,
const char *device_name, void *arg);
#ifndef DOXYGEN_CPP /* Avoid static inline tags for RTDM in doxygen */
static inline int rtdm_irq_free(rtdm_irq_t *irq_handle)
{
XENO_ASSERT(RTDM, xnpod_root_p(), return -EPERM;);
return xnintr_detach(irq_handle);
}
static inline int rtdm_irq_enable(rtdm_irq_t *irq_handle)
{
return xnintr_enable(irq_handle);
}
static inline int rtdm_irq_disable(rtdm_irq_t *irq_handle)
{
return xnintr_disable(irq_handle);
}
#endif /* !DOXYGEN_CPP */
/* --- non-real-time signalling services --- */
/*!
* @addtogroup nrtsignal
* @{
*/
typedef unsigned rtdm_nrtsig_t;
/**
* Non-real-time signal handler
*
* @param[in] nrt_sig Signal handle as returned by rtdm_nrtsig_init()
* @param[in] arg Argument as passed to rtdm_nrtsig_init()
*
* @note The signal handler will run in soft-IRQ context of the non-real-time
* subsystem. Note the implications of this context, e.g. no invocation of
* blocking operations.
*/
typedef void (*rtdm_nrtsig_handler_t)(rtdm_nrtsig_t nrt_sig, void *arg);
/** @} nrtsignal */
#ifndef DOXYGEN_CPP /* Avoid static inline tags for RTDM in doxygen */
static inline int rtdm_nrtsig_init(rtdm_nrtsig_t *nrt_sig,
rtdm_nrtsig_handler_t handler, void *arg)
{
*nrt_sig = rthal_alloc_virq();
if (*nrt_sig == 0)
return -EAGAIN;
rthal_virtualize_irq(rthal_root_domain, *nrt_sig, handler, arg, NULL,
IPIPE_HANDLE_MASK);
return 0;
}
static inline void rtdm_nrtsig_destroy(rtdm_nrtsig_t *nrt_sig)
{
rthal_virtualize_irq(rthal_root_domain, *nrt_sig, NULL, NULL, NULL, 0);
rthal_free_virq(*nrt_sig);
}
static inline void rtdm_nrtsig_pend(rtdm_nrtsig_t *nrt_sig)
{
rthal_trigger_irq(*nrt_sig);
}
#endif /* !DOXYGEN_CPP */
/* --- timer services --- */
/*!
* @addtogroup rtdmtimer
* @{
*/
typedef xntimer_t rtdm_timer_t;
/**
* Timer handler
*
* @param[in] timer Timer handle as returned by rtdm_timer_init()
*/
typedef void (*rtdm_timer_handler_t)(rtdm_timer_t *timer);
/*!
* @anchor RTDM_TIMERMODE_xxx @name RTDM_TIMERMODE_xxx
* Timer operation modes
* @{
*/
enum rtdm_timer_mode {
/** Monotonic timer with relative timeout */
RTDM_TIMERMODE_RELATIVE = XN_RELATIVE,
/** Monotonic timer with absolute timeout */
RTDM_TIMERMODE_ABSOLUTE = XN_ABSOLUTE,
/** Adjustable timer with absolute timeout */
RTDM_TIMERMODE_REALTIME = XN_REALTIME
};
/** @} RTDM_TIMERMODE_xxx */
/** @} rtdmtimer */
#ifndef DOXYGEN_CPP /* Avoid broken doxygen output */
#define rtdm_timer_init(timer, handler, name) \
({ \
xntimer_init((timer), rtdm_tbase, handler); \
xntimer_set_name((timer), (name)); \
0; \
})
#endif /* !DOXYGEN_CPP */
void rtdm_timer_destroy(rtdm_timer_t *timer);
int rtdm_timer_start(rtdm_timer_t *timer, nanosecs_abs_t expiry,
nanosecs_rel_t interval, enum rtdm_timer_mode mode);
void rtdm_timer_stop(rtdm_timer_t *timer);
#ifndef DOXYGEN_CPP /* Avoid static inline tags for RTDM in doxygen */
static inline int rtdm_timer_start_in_handler(rtdm_timer_t *timer,
nanosecs_abs_t expiry,
nanosecs_rel_t interval,
enum rtdm_timer_mode mode)
{
return xntimer_start(timer, xntbase_ns2ticks_ceil(rtdm_tbase, expiry),
xntbase_ns2ticks_ceil(rtdm_tbase, interval),
(xntmode_t)mode);
}
static inline void rtdm_timer_stop_in_handler(rtdm_timer_t *timer)
{
xntimer_stop(timer);
}
#endif /* !DOXYGEN_CPP */
/* --- task services --- */
/*!
* @addtogroup rtdmtask
* @{
*/
typedef xnthread_t rtdm_task_t;
/**
* Real-time task procedure
*
* @param[in,out] arg argument as passed to rtdm_task_init()
*/
typedef void (*rtdm_task_proc_t)(void *arg);
/*!
* @anchor taskprio @name Task Priority Range
* Maximum and minimum task priorities
* @{ */
#define RTDM_TASK_LOWEST_PRIORITY XNSCHED_LOW_PRIO
#define RTDM_TASK_HIGHEST_PRIORITY XNSCHED_HIGH_PRIO
/** @} Task Priority Range */
/*!
* @anchor changetaskprio @name Task Priority Modification
* Raise or lower task priorities by one level
* @{ */
#define RTDM_TASK_RAISE_PRIORITY (+1)
#define RTDM_TASK_LOWER_PRIORITY (-1)
/** @} Task Priority Modification */
/** @} rtdmtask */
int rtdm_task_init(rtdm_task_t *task, const char *name,
rtdm_task_proc_t task_proc, void *arg,
int priority, nanosecs_rel_t period);
int __rtdm_task_sleep(xnticks_t timeout, xntmode_t mode);
void rtdm_task_busy_sleep(nanosecs_rel_t delay);
#ifndef DOXYGEN_CPP /* Avoid static inline tags for RTDM in doxygen */
static inline void rtdm_task_destroy(rtdm_task_t *task)
{
xnpod_delete_thread(task);
}
void rtdm_task_join_nrt(rtdm_task_t *task, unsigned int poll_delay);
static inline void rtdm_task_set_priority(rtdm_task_t *task, int priority)
{
union xnsched_policy_param param = { .rt = { .prio = priority } };
xnpod_set_thread_schedparam(task, &xnsched_class_rt, ¶m);
xnpod_schedule();
}
static inline int rtdm_task_set_period(rtdm_task_t *task,
nanosecs_rel_t period)
{
if (period < 0)
period = 0;
return xnpod_set_thread_periodic(task, XN_INFINITE,
xntbase_ns2ticks_ceil
(xnthread_time_base(task), period));
}
static inline int rtdm_task_unblock(rtdm_task_t *task)
{
int res = xnpod_unblock_thread(task);
xnpod_schedule();
return res;
}
static inline rtdm_task_t *rtdm_task_current(void)
{
return xnpod_current_thread();
}
static inline int rtdm_task_wait_period(void)
{
XENO_ASSERT(RTDM, !xnpod_unblockable_p(), return -EPERM;);
return xnpod_wait_thread_period(NULL);
}
static inline int rtdm_task_sleep(nanosecs_rel_t delay)
{
return __rtdm_task_sleep(delay, XN_RELATIVE);
}
static inline int
rtdm_task_sleep_abs(nanosecs_abs_t wakeup_date, enum rtdm_timer_mode mode)
{
/* For the sake of a consistent API usage... */
if (mode != RTDM_TIMERMODE_ABSOLUTE && mode != RTDM_TIMERMODE_REALTIME)
return -EINVAL;
return __rtdm_task_sleep(wakeup_date, (xntmode_t)mode);
}
/* rtdm_task_sleep_abs shall be used instead */
static inline int __deprecated rtdm_task_sleep_until(nanosecs_abs_t wakeup_time)
{
return __rtdm_task_sleep(wakeup_time, XN_REALTIME);
}
#endif /* !DOXYGEN_CPP */
/* --- timeout sequences */
typedef nanosecs_abs_t rtdm_toseq_t;
void rtdm_toseq_init(rtdm_toseq_t *timeout_seq, nanosecs_rel_t timeout);
/* --- event services --- */
typedef struct {
xnsynch_t synch_base;
DECLARE_XNSELECT(select_block);
} rtdm_event_t;
#define RTDM_EVENT_PENDING XNSYNCH_SPARE1
void rtdm_event_init(rtdm_event_t *event, unsigned long pending);
#ifdef CONFIG_XENO_OPT_RTDM_SELECT
int rtdm_event_select_bind(rtdm_event_t *event, rtdm_selector_t *selector,
enum rtdm_selecttype type, unsigned fd_index);
#else /* !CONFIG_XENO_OPT_RTDM_SELECT */
#define rtdm_event_select_bind(e, s, t, i) ({ (void)(e); -EBADF; })
#endif /* !CONFIG_XENO_OPT_RTDM_SELECT */
int rtdm_event_wait(rtdm_event_t *event);
int rtdm_event_timedwait(rtdm_event_t *event, nanosecs_rel_t timeout,
rtdm_toseq_t *timeout_seq);
void rtdm_event_signal(rtdm_event_t *event);
void rtdm_event_clear(rtdm_event_t *event);
#ifndef DOXYGEN_CPP /* Avoid static inline tags for RTDM in doxygen */
void __rtdm_synch_flush(xnsynch_t *synch, unsigned long reason);
static inline void rtdm_event_pulse(rtdm_event_t *event)
{
trace_mark(xn_rtdm, event_pulse, "event %p", event);
__rtdm_synch_flush(&event->synch_base, 0);
}
static inline void rtdm_event_destroy(rtdm_event_t *event)
{
trace_mark(xn_rtdm, event_destroy, "event %p", event);
__rtdm_synch_flush(&event->synch_base, XNRMID);
xnselect_destroy(&event->select_block);
}
#endif /* !DOXYGEN_CPP */
/* --- semaphore services --- */
typedef struct {
unsigned long value;
xnsynch_t synch_base;
DECLARE_XNSELECT(select_block);
} rtdm_sem_t;
void rtdm_sem_init(rtdm_sem_t *sem, unsigned long value);
#ifdef CONFIG_XENO_OPT_RTDM_SELECT
int rtdm_sem_select_bind(rtdm_sem_t *sem, rtdm_selector_t *selector,
enum rtdm_selecttype type, unsigned fd_index);
#else /* !CONFIG_XENO_OPT_RTDM_SELECT */
#define rtdm_sem_select_bind(s, se, t, i) ({ (void)(s); -EBADF; })
#endif /* !CONFIG_XENO_OPT_RTDM_SELECT */
int rtdm_sem_down(rtdm_sem_t *sem);
int rtdm_sem_timeddown(rtdm_sem_t *sem, nanosecs_rel_t timeout,
rtdm_toseq_t *timeout_seq);
void rtdm_sem_up(rtdm_sem_t *sem);
#ifndef DOXYGEN_CPP /* Avoid static inline tags for RTDM in doxygen */
static inline void rtdm_sem_destroy(rtdm_sem_t *sem)
{
trace_mark(xn_rtdm, sem_destroy, "sem %p", sem);
__rtdm_synch_flush(&sem->synch_base, XNRMID);
xnselect_destroy(&sem->select_block);
}
#endif /* !DOXYGEN_CPP */
/* --- mutex services --- */
typedef struct {
xnsynch_t synch_base;
} rtdm_mutex_t;
void rtdm_mutex_init(rtdm_mutex_t *mutex);
int rtdm_mutex_lock(rtdm_mutex_t *mutex);
int rtdm_mutex_timedlock(rtdm_mutex_t *mutex, nanosecs_rel_t timeout,
rtdm_toseq_t *timeout_seq);
#ifndef DOXYGEN_CPP /* Avoid static inline tags for RTDM in doxygen */
static inline void rtdm_mutex_unlock(rtdm_mutex_t *mutex)
{
XENO_ASSERT(RTDM, !xnpod_asynch_p(), return;);
trace_mark(xn_rtdm, mutex_unlock, "mutex %p", mutex);
if (unlikely(xnsynch_release(&mutex->synch_base) != NULL))
xnpod_schedule();
}
static inline void rtdm_mutex_destroy(rtdm_mutex_t *mutex)
{
trace_mark(xn_rtdm, mutex_destroy, "mutex %p", mutex);
__rtdm_synch_flush(&mutex->synch_base, XNRMID);
}
#endif /* !DOXYGEN_CPP */
/* --- utility functions --- */
#define rtdm_printk(format, ...) printk(format, ##__VA_ARGS__)
struct rtdm_ratelimit_state {
rtdm_lock_t lock; /* protect the state */
nanosecs_abs_t interval;
int burst;
int printed;
int missed;
nanosecs_abs_t begin;
};
int rtdm_ratelimit(struct rtdm_ratelimit_state *rs, const char *func);
#define DEFINE_RTDM_RATELIMIT_STATE(name, interval_init, burst_init) \
struct rtdm_ratelimit_state name = { \
.lock = RTDM_LOCK_UNLOCKED, \
.interval = interval_init, \
.burst = burst_init, \
}
/* We use the Linux defaults */
#define DEF_RTDM_RATELIMIT_INTERVAL 5000000000LL
#define DEF_RTDM_RATELIMIT_BURST 10
#define rtdm_printk_ratelimited(fmt, ...) ({ \
static DEFINE_RTDM_RATELIMIT_STATE(_rs, \
DEF_RTDM_RATELIMIT_INTERVAL, \
DEF_RTDM_RATELIMIT_BURST); \
\
if (rtdm_ratelimit(&_rs, __func__)) \
printk(fmt, ##__VA_ARGS__); \
})
#ifndef DOXYGEN_CPP /* Avoid static inline tags for RTDM in doxygen */
static inline void *rtdm_malloc(size_t size)
{
return xnmalloc(size);
}
static inline void rtdm_free(void *ptr)
{
xnfree(ptr);
}
#ifdef CONFIG_XENO_OPT_PERVASIVE
int rtdm_mmap_to_user(rtdm_user_info_t *user_info,
void *src_addr, size_t len,
int prot, void **pptr,
struct vm_operations_struct *vm_ops,
void *vm_private_data);
int rtdm_iomap_to_user(rtdm_user_info_t *user_info,
phys_addr_t src_addr, size_t len,
int prot, void **pptr,
struct vm_operations_struct *vm_ops,
void *vm_private_data);
int rtdm_munmap(rtdm_user_info_t *user_info, void *ptr, size_t len);
static inline int rtdm_read_user_ok(rtdm_user_info_t *user_info,
const void __user *ptr, size_t size)
{
return access_rok(ptr, size);
}
static inline int rtdm_rw_user_ok(rtdm_user_info_t *user_info,
const void __user *ptr, size_t size)
{
return access_wok(ptr, size);
}
static inline int rtdm_copy_from_user(rtdm_user_info_t *user_info,
void *dst, const void __user *src,
size_t size)
{
return __xn_copy_from_user(dst, src, size) ? -EFAULT : 0;
}
static inline int rtdm_safe_copy_from_user(rtdm_user_info_t *user_info,
void *dst, const void __user *src,
size_t size)
{
return (!access_rok(src, size) ||
__xn_copy_from_user(dst, src, size)) ? -EFAULT : 0;
}
static inline int rtdm_copy_to_user(rtdm_user_info_t *user_info,
void __user *dst, const void *src,
size_t size)
{
return __xn_copy_to_user(dst, src, size) ? -EFAULT : 0;
}
static inline int rtdm_safe_copy_to_user(rtdm_user_info_t *user_info,
void __user *dst, const void *src,
size_t size)
{
return (!access_wok(dst, size) ||
__xn_copy_to_user(dst, src, size)) ? -EFAULT : 0;
}
static inline int rtdm_strncpy_from_user(rtdm_user_info_t *user_info,
char *dst,
const char __user *src, size_t count)
{
if (unlikely(!access_rok(src, 1)))
return -EFAULT;
return __xn_strncpy_from_user(dst, src, count);
}
static inline int rtdm_rt_capable(rtdm_user_info_t *user_info)
{
XENO_ASSERT(RTDM, !xnpod_asynch_p(), return 0;);
return (user_info ? xnshadow_thread(user_info) != NULL
: !xnpod_root_p());
}
#else /* !CONFIG_XENO_OPT_PERVASIVE */
/* Define void user<->kernel services that simply fail */
#define rtdm_mmap_to_user(...) ({ -ENOSYS; })
#define rtdm_munmap(...) ({ -ENOSYS; })
#define rtdm_read_user_ok(...) ({ 0; })
#define rtdm_rw_user_ok(...) ({ 0; })
#define rtdm_copy_from_user(...) ({ -ENOSYS; })
#define rtdm_safe_copy_from_user(...) ({ -ENOSYS; })
#define rtdm_copy_to_user(...) ({ -ENOSYS; })
#define rtdm_safe_copy_to_user(...) ({ -ENOSYS; })
#define rtdm_strncpy_from_user(...) ({ -ENOSYS; })
static inline int rtdm_rt_capable(rtdm_user_info_t *user_info)
{
XENO_ASSERT(RTDM, !xnpod_asynch_p(), return 0;);
return !xnpod_root_p();
}
#endif /* CONFIG_XENO_OPT_PERVASIVE */
static inline int rtdm_in_rt_context(void)
{
return (rthal_current_domain != rthal_root_domain);
}
#endif /* !DOXYGEN_CPP */
int rtdm_exec_in_rt(struct rtdm_dev_context *context,
rtdm_user_info_t *user_info, void *arg,
rtdm_rt_handler_t handler);
#endif /* _RTDM_DRIVER_H */
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